Gazebo Math

API Reference

7.5.1
gz/math/Kmeans.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_MATH_KMEANS_HH_
18 #define GZ_MATH_KMEANS_HH_
19 
20 #include <vector>
21 #include <gz/math/Vector3.hh>
22 #include <gz/math/Helpers.hh>
23 #include <gz/math/config.hh>
24 
25 #include <gz/utils/ImplPtr.hh>
26 
27 namespace gz::math
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace GZ_MATH_VERSION_NAMESPACE {
31 
37  class GZ_MATH_VISIBLE Kmeans
38  {
41  public: explicit Kmeans(const std::vector<Vector3d> &_obs);
42 
46 
50  public: bool Observations(const std::vector<Vector3d> &_obs);
51 
55  public: bool AppendObservations(const std::vector<Vector3d> &_obs);
56 
68  public: bool Cluster(int _k,
69  std::vector<Vector3d> &_centroids,
70  std::vector<unsigned int> &_labels);
71 
75  private: unsigned int ClosestCentroid(const Vector3d &_p) const;
76 
77  GZ_UTILS_IMPL_PTR(dataPtr)
78  };
79  } // namespace GZ_MATH_VERSION_NAMESPACE
80 } // namespace gz::math
81 #endif // GZ_MATH_KMEANS_HH_